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arXiv Open Access 2025

Stability Recognition with Active Vibration for Bracing Behaviors and Motion Extensions Using Environment in Musculoskeletal Humanoids

Kento Kawaharazuka Manabu Nishiura Shinsuke Nakashima Yasunori Toshimitsu Yusuke Omura +5 lainnya
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Abstrak

Although robots with flexible bodies are superior in terms of the contact and adaptability, it is difficult to control them precisely. On the other hand, human beings make use of the surrounding environments to stabilize their bodies and control their movements. In this study, we propose a method for the bracing motion and extension of the range of motion using the environment for the musculoskeletal humanoid. Here, it is necessary to recognize the stability of the body when contacting the environment, and we develop a method to measure it by using the change in sensor values of the body when actively vibrating a part of the body. Experiments are conducted using the musculoskeletal humanoid Musashi, and the effectiveness of this method is confirmed.

Topik & Kata Kunci

cs.RO

Penulis (10)

K

Kento Kawaharazuka

M

Manabu Nishiura

S

Shinsuke Nakashima

Y

Yasunori Toshimitsu

Y

Yusuke Omura

Y

Yuya Koga

Y

Yuki Asano

K

Kei Okada

K

Koji Kawasaki

M

Masayuki Inaba

Format Sitasi

APA MLA BibTeX
Kawaharazuka, K., Nishiura, M., Nakashima, S., Toshimitsu, Y., Omura, Y., Koga, Y. et al. (2025). Stability Recognition with Active Vibration for Bracing Behaviors and Motion Extensions Using Environment in Musculoskeletal Humanoids. https://arxiv.org/abs/2502.16092

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Informasi Jurnal
Tahun Terbit
2025
Bahasa
en
Sumber Database
arXiv
Akses
Open Access ✓